CN105074094A - Working machine - Google Patents
Working machine Download PDFInfo
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- CN105074094A CN105074094A CN201480009919.5A CN201480009919A CN105074094A CN 105074094 A CN105074094 A CN 105074094A CN 201480009919 A CN201480009919 A CN 201480009919A CN 105074094 A CN105074094 A CN 105074094A
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- torque
- motor
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- upper limit
- value
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/13—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines using AC generators and AC motors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/525—Temperature of converter or components thereof
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
Provided is a working machine in which the failure of a turning electric motor can be prevented even when disproportionate increases in coil temperature occur in the turning electric motor during work such as turning and pressing. The working machine includes: a turning body (20); an electric motor (25) for driving the turning body; a power storage device (24) that is connected to the electric motor; an inverter (52) for driving the electric motor; a turning-maneuver lever device (72) that commands the drive of the turning body (20); a speed detecting means (25a) that detects the turning speed of the turning body; and a control device (80) that controls the torque of the electric motor (25). The control device (80) reads the turning speed, which is detected by the speed detecting means, of the turning body (20), and controls the torque of the electric motor (25) such that the torque is lower than the maximum torque when the turning speed is 0 and the torque reaches the maximum torque when the turning speed is a first number of revolutions, which is greater than 0.
Description
Technical field
The present invention relates to Work machine, in more detail there is about hydraulic crawler excavator etc. the Work machine of rotary body.
Background technology
Propose a kind of Work machine in recent years, by using electro-motor and electric energy storage device (battery and double layer capacitor etc.), compared with the Work machine in the past only using hydraulic actuating mechanism, can energy efficiency be improved, realize energy-conservation.In the hydraulic crawler excavator of such Work machine, for the rotary actuator relative to lower traveling body rotary actuation upper rotating body, replace existing hydraulic motor and adopt electro-motor (for example, referring to patent document 1).
In addition, as rotary actuator, there is following rotary actuator: carry hydraulic motor and electro-motor, by the total torque actuated rotary body (for example, referring to patent document 2) of hydraulic motor and electro-motor.
The kinetic energy of the rotary body of (during braking) during deceleration about rotary actuator, when existing hydraulic motor, as thermal loss in hydraulic circuit, and when above-mentioned electro-motor, the regeneration as electric energy can be predicted, thus realize energy-conservation.
But, when being carried out power operation and regeneration by electro-motor, because the reason of resistance and friction etc. produces heat.If heat to a certain degree, then can be dispelled the heat by cooling unit, but when large heat, have little time cooling, the temperature of electro-motor rises, according to circumstances different, becomes the reason of the faults such as fusing.
Patent document 1 discloses a kind of technology, be provided with the temperature pick up that the temperature of the cooling water cooled by current transformer is detected, during the temperature height of cooling water, implement the control that the higher limit of the electric current being supplied to electro-motor is reduced, prevent the excessive temperature of electro-motor or current transformer from rising.
Patent document 2 discloses a kind of technology, set temperature sensor on electro-motor or current transformer, and the control of the output correspondingly reducing electro-motor of carrying out rising with temperature, prevents the excessive temperature of electro-motor or current transformer from rising.
Prior art document
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2010-222815 publication
Patent document 2: Japanese Unexamined Patent Publication 2009-52339 publication
Summary of the invention
Applicant of the present invention invents and has applied for a kind of Work machine, come in the Work machine of driving rotating bodies at use hydraulic motor and electro-motor, in rotation process amount hour or rotary speed is dead slow speed time etc., in the field of the degradation in efficiency of the rotation of hydraulic motor generation, by means of only electrical motor driven rotary body, realize the reduction of fuel consumption thus.
In such Work machine, scraper bowl is pushed the side in groove while the situation carrying out excavating is inferior, carry out so-called rotation when pushing action, produce electro-motor and produce torque but rotary speed is the state of zero.Now, inner at electro-motor, because electric current only concentrates a part of coil flowing to electro-motor, so only the temperature of a part of coil unevenly rises.
In technology disclosed in patent document 1, such as, when the operation that the temperature implementing a part of coil of only electro-motor when pushing action as above-mentioned rotation rises such, can not become very high to the temperature of the cooling water that electro-motor entirety cools.Thus, the control that the higher limit not performing the electric current making to be supplied to electro-motor reduces, the temperature of a part of coil of electro-motor continues to rise, and there is the possibility broken down.
In addition, in the technology disclosed in patent document 2, similarly, when pushing the operation that the temperature of implementing a part of coil of only electro-motor action rises such as rotated, can only the temperature of certain coil of periphery set by detected temperatures sensor.Thus, even if make the temperature of a part of coil rise because rotation pushes action, also can there is non-detectable situation, there is the possibility broken down.For solving such problem, need to configure the multiple temperature pick ups detected the temperature of multiple coils of whole electro-motor inside, but consider from cost and installation space this respect, it is difficult for so doing, and is unpractical.
The present invention completes in view of the foregoing, its objective is and provides a kind of Work machine, rotate push wait operation time, even if rotating electric motor occur unbalanced coil temperature rising, also can prevent the fault of rotating electric motor.
For realizing above-mentioned object, the Work machine of the first invention, has: rotary body; The electro-motor that above-mentioned rotary body drives; Electric energy storage device, it is connected with above-mentioned electro-motor; Current transformer, it controls the driving of above-mentioned electro-motor; Rotation function lever apparatus, its driving instruction as above-mentioned rotary body and driving instruction is sent to above-mentioned electro-motor; Rotary speed testing agency, its rotary speed as above-mentioned rotary body and detect the rotating speed of above-mentioned electro-motor; Control device, it controls the torque of above-mentioned electro-motor, the feature of above-mentioned Work machine is, above-mentioned control device controls as follows: the rotary speed being taken into the above-mentioned rotary body that above-mentioned rotary speed testing agency is detected, when above-mentioned rotary speed is zero, make the torque that the torque of above-mentioned electro-motor becomes less than torque capacity, when above-mentioned rotary speed is the first rotating speed being greater than zero, make the torque of above-mentioned electro-motor become torque capacity.
The effect of invention
According to the present invention, rotate push wait operation time, even if rotating electric motor occur unbalanced coil temperature rising, also can prevent the fault of rotating electric motor.
Accompanying drawing explanation
Fig. 1 is the lateral view of the first embodiment representing Work machine of the present invention.
Fig. 2 is the system construction drawing of the electronic and hydraulic test of the first embodiment constituting Work machine of the present invention.
Fig. 3 is the control block diagram of the controller of the first embodiment constituting Work machine of the present invention.
Fig. 4 is the performance plot of the upper limit torque value form referenced by upper limit torque operational part of the first embodiment constituting Work machine of the present invention.
Fig. 5 is the control block diagram of the controller of the second embodiment constituting Work machine of the present invention.
Fig. 6 is the performance plot of the reference torque value form referenced by reference torque operational part of the second embodiment constituting Work machine of the present invention.
Fig. 7 is the lateral view of the 3rd embodiment representing Work machine of the present invention.
Fig. 8 is the system construction drawing of the electronic and hydraulic test of the 3rd embodiment constituting Work machine of the present invention.
Fig. 9 is the control block diagram of the controller of the 3rd embodiment constituting Work machine of the present invention.
Detailed description of the invention
Below, use accompanying drawing that embodiments of the present invention are described as Work machine for hydraulic crawler excavator.In addition, the present invention can be applicable to all Work machines with rotary body, and of the present invention being suitable for is not limited to hydraulic crawler excavator.Such as, the present invention can also be applicable to other the Work machine such as mobile crane with rotary body.
< embodiment 1 >
Fig. 1 is the lateral view of the first embodiment representing Work machine of the present invention, and Fig. 2 is the system construction drawing of the electronic and hydraulic test of the first embodiment constituting Work machine of the present invention.
In FIG, hydraulic crawler excavator has: driving body 10; The rotary body 20 on driving body 10 can be arranged on rotatably; And the digging mechanism 30 be arranged on rotary body 20.
Driving body 10 is made up of a pair traveling hydraulic motor 13a, 13b and reducing gear etc. thereof of a pair crawler belt 11a, 11b and track frame 12a, 12b (illustrate only side in FIG), independently drived control each crawler belt 11a, 11b.
Rotary body 20 is by rotating frame 21, the motor 22 as prime mover be arranged on rotating frame 21, the auxiliary power generation motor 23, rotating electric motor 25, the double layer capacitor (hereinafter referred to as capacitor) 24 be connected with auxiliary power generation motor 23 and rotating electric motor 25 that are driven by motor 22 and form the reducing gear 26 etc. that the rotating speed of rotating electric motor 25 slows down, the driving force of rotating electric motor 25 is transmitted via reducing gear 26, makes rotary body 20 (rotating frame 21) relative to driving body 10 rotary actuation by this driving force.
In addition, rotary body 20 is equipped with digging mechanism (front device) 30.Digging mechanism 30 by swing arm 31, for driving the swing arm cylinder 32 of swing arm 31, can rotate freely the earth's axis be supported on dipper 33 near swing arm 31 leading section, for driving the dipper cylinder 34 of dipper 33, can rotate the earth's axis be supported on dipper 33 front end scraper bowl 35, for driving the scraper bowl cylinder 36 etc. of scraper bowl 35 to form.
And, the rotating frame 21 of rotary body 20 has carried the hydraulic system 40 for driving the hydraulic actuating mechanisms such as above-mentioned traveling hydraulic motor 13a, 13b, swing arm cylinder 32, dipper cylinder 34, scraper bowl cylinder 36.Hydraulic system 40 comprise variable capacity type hydraulic pump 41 (with reference to Fig. 2), come the adjuster 42 of control capability and the control valve 43 (with reference to Fig. 2) for each executing agency of drived control by the tilt angle changing hydraulic pump 41.Hydraulic pump 41, by motor 22 rotary actuation, discharges the long-pending proportional working oil with rotating speed and capacity.
Next, the system architecture about the electronic of hydraulic crawler excavator and hydraulic test carries out summary description.As shown in Figure 2, control valve 43 makes the work of rotation guiding valve according to the operational order (hydraulic pilot signal) of the function lever apparatus come beyond spinning, and controls the flow and the direction that are supplied to the pressure oil of rotation hydraulic motor 27.In addition, control valve 43 makes various guiding valve work according to carrying out the operational order of spinning in order to outer function lever apparatus (hydraulic pilot signal), and controls to be supplied to swing arm cylinder 32, dipper cylinder 34, the flow of pressure oil of scraper bowl cylinder 36 and traveling hydraulic motor 13a, 13b and direction.
Power driven system is made up of above-mentioned auxiliary power generation motor 23, capacitor 24 and rotating electric motor 25 and power control unit 55 and main contactor 56 etc.Power control unit 55 has chopper 51, current transformer 52,53, smmothing capacitor 54 etc., and main contactor 56 has main relay 57, surge current prevents circuit 58 etc.In addition, in power control unit 55, be provided with the speed probe 25a that the rotating speed of rotating electric motor 25 is detected, and detected signal is exported to controller 80.
The direct current power carrying out sufficient power from capacitor 24 by the boosted busbar voltage to regulation of chopper 51, and is input to for driving the current transformer 52 of rotating electric motor 25 and for driving the current transformer 53 of auxiliary power generation motor 23.Smmothing capacitor 54 is for making busbar voltage stablize and arranging.Rotating electric motor 25 is via reducing gear 26 driving rotating bodies 20.According to the driving condition (carrying out power to run or regeneration) of auxiliary power generation motor 23 and rotating electric motor 25, make capacitor 24 discharge and recharge.
Controller 80 has: input part, and its input comes the rotation process signal of spinning function lever apparatus 72 and the tach signal etc. of rotation electro-motor 25; Operational part, it uses these input signals, calculate the torque instruction value of rotation electro-motor 25, the torque instruction value of auxiliary power generation motor 23, hydraulic pump 41 subtract output order value etc.; Efferent, exports the various instructions that operational part calculates.
Input part to controller 80 inputs: export from rotation function lever apparatus 72 and converted to the rotation process amount signal of the signal of telecommunication by hydraulic pressure/signal of telecommunication conversion equipment (such as pressure sensor) 73; The tach signal of the rotating electric motor 25 that speed probe 25a detects.
Export to the torque instruction of rotation electro-motor 25 and the torque instruction of auxiliary power generation motor 23 to power control unit 55 from the efferent of controller 80, thus control respective current transformer 52 and 53.In addition, the output order that subtracts for hydraulic pump 41 is exported to adjuster 42 from the efferent of controller 80 via electricity/hydraulic pressure signal conversion equipment 70, the output (capacity) of adjuster 42 hydraulic control pump 41.Electricity/hydraulic pressure signal conversion equipment 70 converts hydraulic pilot signal to for the signal of telecommunication of self-controller 80 in future, suitable with such as electromagnetic proportional valve.
Next, Fig. 3 and Fig. 4 is used to illustrate about the control performed by controller 80.Fig. 3 is the control block diagram of the controller representing the first embodiment constituting Work machine of the present invention, and Fig. 4 is the performance plot of the upper limit torque value form referenced by upper limit torque operational part representing the first embodiment constituting Work machine of the present invention.
As shown in Figure 3, the operational part of controller 80 has rotating speed of target operational part 101, subtraction portion 102, PI control part 103, upper limit torque operational part 104 and torque limiting unit 105.
Rotating speed of target operational part 101 is transfused to rotation process amount signal, and based on the rotating speed of target of this signal operation rotating electric motor 25.Such as, specifically, with reference to the form of the rotating speed of target corresponding with rotation process amount.This form is the rotation speed relation using existing hydraulic crawler excavator (being only configured with hydraulic motor with executing agency as rotating) to measure rotation process amount and rotation motor in advance, and set based on this measurement result.The signal of the rotating speed of target calculated by rotating speed of target operational part 101 inputs to the end side in subtraction portion 102.
Another side in subtraction portion 102 is transfused to the tach signal of rotating electric motor 25, from the signal of the rotating speed of target calculated by rotating speed of target operational part 101, deduct the tach signal of rotating electric motor 25, and the difference signal calculated is inputted to PI control part 103.
PI control part 103, in order to the deviation of the rotating speed of target and actual speed that reduce rotating electric motor 25, uses the instruction of PI controller calculating torque.Specifically, such as, deviation by rotating speed can be multiplied by value (output valve of ratio (P) controller) that proportional gain obtains and be multiplied by by the integrated value of rotating speed deviation the value (output valve of integration (I) controller) that storage gain obtains and be added, calculate torque instruction.The signal of the torque instruction calculated by PI control part 103 inputs to the end side of torque limiting unit 105.
Upper limit torque operational part 104 is transfused to the tach signal of rotating electric motor 25, and the tach signal based on rotating electric motor 25 calculates the absolute value of the upper limit torque of rotating electric motor 25.Specifically, the reference example form determining the upper limit torque corresponding with the rotating speed of rotating electric motor 25 as shown in Figure 4, calculates upper limit torque.
Form according to Fig. 4, about upper limit torque when making the rotating speed of rotating electric motor 25 be zero becomes the half of torque capacity, between rotating speed zero to the first rotating speed (such as 10rpm), be set to and correspondingly make upper limit torque be increased to torque capacity with the increase of rotating speed.Next, between the first rotating speed and the second rotating speed (such as 1000rpm), make upper limit torque become torque capacity, time more than the second rotating speed, be set to and correspondingly make upper limit torque be reduced to zero torque with the increase of rotating speed.The signal of the upper limit torque calculated by upper limit torque operational part 104 inputs to another side of torque limiting unit 105.
Here, the first rotating speed considers that the accuracy of detection of the rotating speed of rotating electric motor 25 is determined, be preferably set to torque when can guarantee that rotating electric motor 25 stops fully low zero near rotating speed.In addition, the second rotating speed sets in the same manner as the determination mode of the upper limit torque with general electro-motor, is preferably set to the rotating speed larger than common rotating speed.
The signal that torque limiting unit 105 is transfused to the torque instruction calculated by PI control part 103 and the signal of upper limit torque calculated by upper limit torque operational part 104, and calculate rotating electric motor torque instruction, export to power control unit 55.Specifically, such as, more than the value of-1 times of the signal of the upper limit torque calculated below the signal signal of the torque instruction calculated by PI control part 103 being limited in the upper limit torque calculated by upper limit torque operational part 104 and by upper limit torque operational part 104, this confined value is exported as the torque instruction value of rotating electric motor 25 to the current transformer 52 of power control unit 55.
According to above method, due to the rotating electric motor torque when rotating speed that can reduce rotating electric motor is zero, so the rising of the unbalanced coil temperature rotated when pushing action can be suppressed.
According to the first embodiment of the Work machine of the invention described above, rotate push wait operation time, even if occur in rotating electric motor 25 unbalanced coil temperature rising, also can prevent the fault of rotating electric motor 25.
< embodiment 2 >
Below, use accompanying drawing that the second embodiment of Work machine of the present invention is described.Fig. 5 is the control block diagram of the controller of the second embodiment constituting Work machine of the present invention, and Fig. 6 is the performance plot of the reference torque value form referenced by reference torque operational part of the second embodiment constituting Work machine of the present invention.In Fig. 5 and Fig. 6, the Reference numeral identical with the Reference numeral shown in Fig. 1 to Fig. 4 is with a part, and description is omitted.
In the second embodiment of Work machine of the present invention, the structure of the system of electronic and hydraulic test is identical with the first embodiment, but process performed by the operational part of controller 80 is different from the first embodiment.
In Figure 5, the operational part of controller 80 replaces the rotating speed of target operational part 101 in the first embodiment, subtraction portion 102 and PI control part 103 and has reference torque operational part 106.In addition, also there is upper limit torque operational part 104 and torque limiting unit 105.
Reference torque operational part 106 is transfused to the tach signal of rotation process amount signal and rotating electric motor 25, calculates the signal of the torque instruction of rotating electric motor 25 based on these signals.Specifically, the reference example form obtained based on the rotating speed of rotation process amount and rotating electric motor 25 as shown in Figure 6, calculates the torque instruction of rotating electric motor 25.
In the present embodiment, as shown in Figure 6, taking transverse axis as the rotating speed of rotating electric motor 25, take the longitudinal axis as torque instruction (reference torque), is preset by multiple characteristic lines corresponding to the height of rotation process amount as form.Specifically, be just with rotating speed during right rotation, reference torque when accelerating with right rotation is just, be negative with rotating speed during anticlockwise, reference torque instruction when accelerating with anticlockwise is negative indication.And, calculate reference torque from the value of the longitudinal axis of the intersection point between the characteristic line and the rotating speed of rotating electric motor 25 of rotation process amount.
Such as, when right rotation, when the operational ton of right rotation is P1, calculate reference torque from the intersection point between characteristic line P1 and the rotating speed of rotating electric motor 25.In addition, right rotation operational ton is configured to the relation of P1 < P2 < P3 < P4.The signal of the reference torque calculated by reference torque operational part 106 inputs to the end side of torque limiting unit 105.
The signal that torque limiting unit 105 is transfused to the reference torque calculated by reference torque operational part 106 and the signal of upper limit torque calculated by upper limit torque operational part 104, calculate rotating electric motor torque instruction, export to power control unit 55.Specifically, such as, more than the value of-1 times of the signal of the upper limit torque calculated below the signal signal of the reference torque calculated by reference torque operational part 106 being constrained to the upper limit torque calculated by upper limit torque operational part 104 and by upper limit torque operational part 104, this confined value is exported as the torque instruction value of rotating electric motor 25 to the current transformer 52 of power control unit 55.
According to the second embodiment of the Work machine of the invention described above, the effect same with above-mentioned first embodiment can be obtained.
< embodiment 3 >
Below, use accompanying drawing that the 3rd embodiment of Work machine of the present invention is described.Fig. 7 is the lateral view of the 3rd embodiment representing Work machine of the present invention, Fig. 8 is the system construction drawing of the electronic and hydraulic test of the 3rd embodiment constituting Work machine of the present invention, and Fig. 9 is the control block diagram of the controller of the 3rd embodiment constituting Work machine of the present invention.In Fig. 7 to Fig. 9, the Reference numeral identical with the Reference numeral shown in Fig. 1 to Fig. 6 is with a part, and description is omitted.
In the first embodiment shown in Fig. 1 and Fig. 2, by means of only rotating electric motor 25 driving rotating bodies 20, but in the present embodiment, become following formation: configure rotary hydraulic motor 27 coaxially with rotating electric motor 25, by the total torque actuated rotary body 20 of rotating electric motor 25 and rotary hydraulic motor 27.In addition, it is characterized in that, rotation process amount hour or rotary speed is dead slow speed time etc., in the region that the rotation efficiency of rotary hydraulic motor 27 worsens, by means of only rotating electric motor driving rotating bodies 20.
In the figure 7, rotary body 20 is by rotating frame 21, the motor 22 as prime mover be arranged on rotating frame 21, the auxiliary power generation motor 23, rotating electric motor 25 and the rotary hydraulic motor 27 that are driven by motor 22, the capacitor 24 be connected with auxiliary power generation motor 23 and rotating electric motor 25, form the reducing gear 26 etc. that the rotation of rotating electric motor 25 and rotary hydraulic motor 27 is slowed down, the driving force of rotating electric motor 25 and rotary hydraulic motor 27 is transmitted via reducing gear 26, by this driving force rotary actuation rotary body 20.
As shown in Figure 8, the driving force of motor 22 is passed to hydraulic pump 41.Control valve 43, according to the rotation process instruction (hydraulic pilot signal) carrying out spinning function lever apparatus 72, controls the flow and the direction that are supplied to the pressure oil of rotary hydraulic motor 27.In addition, control valve 43, according to the operational order (hydraulic pilot signal) of the function lever apparatus come beyond spinning (not shown), controls to be supplied to swing arm cylinder 32, dipper cylinder 34, the flow of pressure oil of scraper bowl cylinder 36 and traveling hydraulic motor 13a, 13b and direction.
The direct current power carrying out sufficient power from capacitor 24 is boosted to the busbar voltage of regulation by chopper 51, and is imported into for driving the current transformer 52 of rotating electric motor 25 and for driving the current transformer 53 of auxiliary power generation motor 23.Smmothing capacitor 54 is arranged to make busbar voltage stablize.The axis of rotation of rotating electric motor 25 and rotary hydraulic motor 27 combines, via reducing gear 26 driving rotating bodies 20.According to the driving condition (carrying out power to run or regeneration) of auxiliary power generation motor 23 and rotating electric motor 25, make capacitor 24 discharge and recharge.
Controller 80 has: input part, and it is transfused to and comes the rotation process signal of spinning function lever apparatus 72 and the tach signal etc. of rotation electro-motor 25; Operational part, it uses these input signals, calculate the torque instruction value of rotation electro-motor 25, the torque instruction value of auxiliary power generation motor 23, hydraulic pump 41 subtract output order value etc.; Efferent, it exports the various instructions calculated by operational part.
The tach signal being converted to the rotating electric motor 25 that the rotation process amount signal of the signal of telecommunication and speed probe 25a detect by hydraulic pressure/signal of telecommunication conversion equipment (such as pressure sensor) 73 exported to the input part input of controller 80 from rotation function lever apparatus 72.
From the efferent of controller 80, the torque instruction for rotation electro-motor 25 and the torque instruction for auxiliary power generation motor 23 are exported to power control unit 55, and control respective current transformer 52 and 53.In addition, the output order that subtracts for hydraulic pump 41 is exported to adjuster 42 from the efferent of controller 80 via electricity/hydraulic pressure signal conversion equipment 70, the output (capacity) of adjuster 42 hydraulic control pump 41.The signal of telecommunication of electricity/hydraulic pressure signal conversion equipment 70 self-controller 80 in future converts hydraulic pilot signal to, suitable with such as electromagnetic proportional valve.
Here, when operator operates rotation function lever apparatus 72, there is the hydraulic pilot signal corresponding to its direction of operating and operational ton, and be imported into control valve 43, and also the rotation process amount signal converting the signal of telecommunication to is input to controller 80 via hydraulic pressure/signal of telecommunication conversion equipment 73.Thus, rotating electric motor 25 accepts the electric power supply of sufficient power from capacitor 24 and is driven, and as required, the control valve of open rotary hydraulic motor 27 drives rotary hydraulic motor 27.
In the 3rd embodiment of the present invention, now, based on the rotating speed of rotation process amount and rotating electric motor 25, calculate and the output order of the torque instruction exported for rotating electric motor 25 and hydraulic pump 41.
Next, Fig. 9 is used to be described about the control performed by controller 80.In fig .9, the operational part of controller 80 has upper limit torque operational part 104, torque limiting unit 105 and reference torque operational part 106 in the second embodiment, also has the second subtraction portion 107, multiplying portion 108 and gain operation portion 109.
Upper limit torque operational part 104, torque limiting unit 105 are identical with above-mentioned second embodiment with reference torque operational part 106, and description will be omitted.But, in the form of the upper limit torque used at upper limit torque operational part 104, be configured to be worth little value than the upper limit torque in the second embodiment.Thus, the signal from the reference torque of reference torque operational part 106 cannot only be provided by rotating electric motor 25.Carry out the control of the insufficient section being supplemented this reference torque equal with hydraulic crawler excavator in the past by rotary hydraulic motor 27.
The signal that second subtraction portion 107 is transfused to the reference torque calculated by reference torque operational part 106 and the signal of rotating electric motor torque instruction calculated by torque limiting unit 105, deduct rotating electric motor torque instruction signal from the signal of reference torque, the difference signal calculated is inputted to multiplying portion 108.Specifically, the difference between the torque calculating reference torque and rotating electric motor 25 also exports to multiplying portion 108.
Multiplying portion 108 is transfused to the difference signal calculated by the tach signal of rotating electric motor 25 and the second subtraction portion 107, and the target calculating rotary hydraulic motor 27 by carrying out multiplying to 2 input signals exports.The signal that the target calculated exports inputs to gain operation portion 109.
The target that gain operation portion 109 is transfused to the rotary hydraulic motor 27 calculated by multiplying portion 108 exports, be multiplied by the gain that presets to calculate hydraulic pump output order value, export this value to adjuster 42 via electricity/hydraulic conversion equipment 70, carry out the output (capacity) of hydraulic control pump 41.Here, the gain preset is configured to such as from the inverse of the efficiency between the output outputting to rotary hydraulic motor 27 of hydraulic pump 41.By setting like this, what can make rotary hydraulic motor 27 is output into the value calculated by multiplying portion 108, and in the region that the rotation efficiency that rotary hydraulic motor causes worsens, only driven by rotating electric motor, the reduction of fuel consumption can be realized thus.
According to the 3rd embodiment of the Work machine of the invention described above, the effect same with above-mentioned first embodiment can be obtained.
In addition, according to the 3rd embodiment of the Work machine of the invention described above, be controlled to the torque of the rotating electric motor 25 when to reduce the rotating speed of rotary body 20 be zero, but when the rotating speed of rotary body 20 is beyond zero, be controlled to the torque increasing rotary hydraulic motor 27, thus the torque same with hydraulic crawler excavator in the past can be produced.Its result, can guarantee operability.
The explanation of Reference numeral
10 driving bodies
11 crawler belts
12 track frames
13 traveling hydraulic motors
20 rotary bodies
21 rotating frames
22 motors
23 auxiliary power generation motors
24 capacitors
25 rotating electric motor
25a speed probe
26 reducing gears
27 rotary hydraulic motors
30 digging mechanisms
31 swing arms
32 swing arm cylinders
33 dippers
34 dipper cylinders
35 scraper bowls
36 scraper bowl cylinders
40 hydraulic systems
41 hydraulic pumps
42 adjusters
43 control valves
51 choppers
52 rotating electric motor current transformers
53 auxiliary power generation motor current transformers
54 smmothing capacitors
55 power control units
56 main contactors
57 main relays
58 surge currents prevent circuit
70 electricity/hydraulic pressure signal conversion equipment
72 rotation function lever apparatus
80 controllers
101 rotating speed of target operational parts
102 subtraction portions
103PI control part
104 upper limit torque operational parts
105 torque limiting units
106 reference torque operational parts
107 second subtraction portions
108 multiplying portions
109 gain operation portions
Claims (5)
1. a Work machine, has: rotary body; For driving the electro-motor of described rotary body; Electric energy storage device, it is connected with described electro-motor; Current transformer, it controls the driving of described electro-motor; Rotation function lever apparatus, it sends to described electro-motor the driving instruction that driving instruction is used as described rotary body; Rotary speed testing agency, its rotating speed detecting described electro-motor is used as the rotary speed of described rotary body; Control device, it controls the torque of described electro-motor,
The feature of described Work machine is,
Described control device controls as follows: the rotary speed being taken into the described rotary body that described rotary speed testing agency is detected, when described rotary speed is zero, make the torque that the torque of described electro-motor becomes less than torque capacity, when described rotary speed is the first rotating speed being greater than zero, the torque of described electro-motor is made to become torque capacity.
2. Work machine as claimed in claim 1, is characterized in that,
Have operational ton testing agency, it detects the operational ton of described rotation function lever apparatus,
Described control device has:
Reference torque operational part, it is taken into the rotating speed of the described electro-motor that the operational ton of the described rotation function lever apparatus that described operational ton testing agency is detected and described rotary speed testing agency are detected, and calculates the reference torque instruction of described electro-motor;
Upper limit torque operational part, it calculates the upper limit torque value of described electro-motor according to the rotating speed of described electro-motor;
Torque limiting unit, it is transfused to the described reference torque instruction from described reference torque operational part and the described upper limit torque value from described upper limit torque operational part, the value that the restriction being applied with described upper limit torque value obtains is exported as torque instruction to described current transformer for described reference torque instruction.
3. Work machine as claimed in claim 2, is characterized in that,
Described upper limit torque operational part calculates in such a way:
The rotary speed of described rotary body be from zero to the first rotating speed being greater than zero during, correspondingly make the upper limit torque value of described electro-motor increase with the increase of described rotary speed,
The rotary speed of described rotary body be from described first rotating speed to described first rotating speed more than and during the second rotating speed larger than usual rotating speed, make the upper limit torque value of described electro-motor become maximum value,
When the rotary speed of described rotary body is more than described second rotating speed, correspondingly reduce the upper limit torque value of described electro-motor with the increase of described rotary speed.
4. Work machine as claimed in claim 2 or claim 3, is characterized in that,
Also have: motor; Hydraulic pump, it is by described motor driven; Adjuster, it controls the output of described hydraulic pump; Hydraulic motor, it is driven by the pressure oil of discharging from described hydraulic pump, by rotary body described in the total torque actuated of the torque of described hydraulic motor and the torque of described electro-motor,
Described control device has:
Subtraction portion, it is transfused to from the described reference torque instruction of described reference torque operational part and the described torque instruction from described torque limiting unit, exports deducting the value that described torque instruction obtains from described reference torque instruction as difference signal to multiplying portion;
Multiplying portion, it is transfused to described difference signal from described subtraction portion and described rotary speed, carries out multiplying export to the target calculating described hydraulic motor signals of these inputs;
Gain operation portion, it is multiplied by exporting the described target from described multiplying portion the gain preset and the value obtained exports as hydraulic pump output order value to described adjuster.
5. Work machine as claimed in claim 4, is characterized in that,
The upper limit torque value of the described electro-motor in described upper limit torque operational part is configured to the value less than setting value when not having described hydraulic motor.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013180516 | 2013-08-30 | ||
| JP2013-180516 | 2013-08-30 | ||
| PCT/JP2014/072646 WO2015030140A1 (en) | 2013-08-30 | 2014-08-28 | Working machine |
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| CN105074094A true CN105074094A (en) | 2015-11-18 |
| CN105074094B CN105074094B (en) | 2017-03-08 |
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| CN201480009919.5A Active CN105074094B (en) | 2013-08-30 | 2014-08-28 | Work machine |
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| Country | Link |
|---|---|
| US (1) | US9567730B2 (en) |
| EP (1) | EP3040484B1 (en) |
| JP (1) | JP6095028B2 (en) |
| KR (1) | KR101747578B1 (en) |
| CN (1) | CN105074094B (en) |
| WO (1) | WO2015030140A1 (en) |
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| CN106945532A (en) * | 2015-12-18 | 2017-07-14 | 通用电气公司 | System and method for reducing the fuel consumption in vehicle |
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| JP6671851B2 (en) * | 2015-03-17 | 2020-03-25 | 住友重機械工業株式会社 | Construction machinery |
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Also Published As
| Publication number | Publication date |
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| KR20150106968A (en) | 2015-09-22 |
| EP3040484B1 (en) | 2021-11-03 |
| JP6095028B2 (en) | 2017-03-15 |
| US20160002880A1 (en) | 2016-01-07 |
| EP3040484A1 (en) | 2016-07-06 |
| EP3040484A4 (en) | 2017-05-24 |
| KR101747578B1 (en) | 2017-06-14 |
| WO2015030140A1 (en) | 2015-03-05 |
| JPWO2015030140A1 (en) | 2017-03-02 |
| US9567730B2 (en) | 2017-02-14 |
| CN105074094B (en) | 2017-03-08 |
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